void CheckForArmUpdate()
{
while (this.subSocket.TryReceiveFrameString(out this.msgString))
{ // messages will come in pairs, with the first being the topic "ArmUpdate" and second being the arm update payload
if (this.msgString == "ArmUpdate")
{
string msg = this.subSocket.ReceiveFrameString();
ArmUpdate u = JsonUtility.FromJson <ArmUpdate>(msg);
ProcessArmUpdate(u);
}
}
// now schedule the next check (otherwise we would stop checking)
Invoke("CheckForArmUpdate", this.armCheckFrequency);
}
void ProcessArmUpdate(ArmUpdate u)
{
if (this.debugMode || u.Buttons == 2) // green button only
{
Debug.Log($"ArmJointController :: Arm update #{u.TimeStamp} received");
}
this.axis1Xform.localEulerAngles = new Vector3(0, u.Angle1 + this.axis1RotAdj, 0);
this.axis2Xform.localEulerAngles = new Vector3(u.Angle2 + this.axis2RotAdj, 0, 0);
this.axis3Xform.localEulerAngles = new Vector3(0, u.Angle3 + this.axis3RotAdj, 0);
this.axis4Xform.localEulerAngles = new Vector3(0, 0, u.Angle4 + this.axis4RotAdj);
this.axis5Xform.localEulerAngles = new Vector3(0, u.Angle5 + this.axis5RotAdj, 0);
this.axis6Xform.localEulerAngles = new Vector3(0, 0, u.Angle6 + this.axis6RotAdj);
this.axis7Xform.localEulerAngles = new Vector3(0, u.Angle7 + this.axis7RotAdj, 0);
this.driverReportedProbePoint.position = new Vector3(u.X, u.Y, u.Z) + this.driverReportedProbePointAdj;
if (this.laserBeam && u.Buttons == 1) // red button only
{
EmitDevastation();
}
}
